ASDA Series Application Note Introduction of PR Operation
March, 2015 1-37
Figure 1.49 Internal Interrupt
External Interrupt:
In a PR profile, any type of trigger method is used to force carrying out the other PR command.
(Please refer to Section 1.2.7 for PR trigger method.) When the next PR command with interrupt
function comes in, the command that is being executed will be changed. Delay time will not be
effective to the external interrupt. That is, when command with external interrupt comes in, the
next command will definitely be executed no matter what type of previous command is. See
Figure 1.50, PR profile A is carrying out PR#2. Meanwhile, if any type of PR trigger method is
used to trigger PR profile B (Triggering PR#30, with interrupt), the motion command of PR#2
being executed will be combined with that of PR#30. Therefore, the system will not carry out the
rest of the motion command of PR#2; instead, it will carry on to PR profile B.
Figure 1.50 External Interrupt of PR Profile
DLY 1
TIME
SPEED
TIME
SPEED
AUTO
INS
OVLP
DLY
The final destination:
Absolute: Cmd_E = command
Relative, Incremental:
Cmd_E = last Cmd_E +
command
P_Command 2
(Type 2)
P_Command 2
(Type 2)
If 0, this command
will be omitted.
P_Command
1 (Type 3)
INS
OVLP
DLY
INS
OVLP
DLY
INS
OVLP
DLY
DLY 1
If 0, this command
will be omitted.
V_Command 1
(Type 1)
The final destination:
Absolute: Cmd_E = command
Relative, Incremental:
Cmd_E = last Cmd_E +
command
PR
#1
Pos iti on (3)
D=0 S = 20.0 rpm
200000PUU, INC
PR
#2
(I)
Positi on (3)
D=0, S=100.0 rpm
300000PUU, INC
PR
#3
With interrupt
Pos ition (2)
D=0, S=200.0 rpm
100000PUU, INC
PR
#30
Position (3)
D=0 S = 2000rpm
500000PUU, INC
PR
#31
(I)
Positi on (3)
D=0, S=
600
.
0
rpm
400000PUU, INC
PR
#32
Positi on (2)
D=0, S=200.0 rpm
300000PUU, INC
(I)
PR Profile A
PR Profile B
,
,
When PR#2 is being executed, PR#30 is
triggered by any type of PR trigger method.
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